Parallel 3-Finger Mechanical Gripper
HP15M Series
●Mechanical Gripper (Gripping by the use of the spring force)
●High rigidity and high accuracy realized by the use of the linear guide
●Gripping at the long point is available.
●With a hollow hole
Application
Bearing
Gear
HP15M
Cylinder
Gear
Motor
e
Ext
rce
Fo
rnal
Parallel 3-Finger Mechanical Gripper
Fit Tolerance for Shaft
●Centering accuracy
±0.05 mm or less
● Repeat accuracy
±0.01 mm or less
●Withstand Load,
Withstand Moment
Push
HP15M Series
Rotation
Hallow Hole
Positioning Pin
High Accuracy Linear Guide
405
Parallel 3-Finger Mechanical Gripper
HP15M Series
■ Model Code No.
HP15M
16
L
Series Name
HP15M Series
Nominal diameter
Gripping Force
16
20
25
L: Low
※Please feel free to consult us about
M: Medium the grip forces (spring forces) other
than the ones specified on the left.
H: High
Parallel 3-Finger Mechanical Gripper
■Internal Structure Diagram
11 13 12
5
13
1
7
8 14
9
3
6
2
4
10
15
Parts List
NO
406
Name
Material
Name
NO
Metal
Material
1
Main Body
Aluminum Alloy
2
Piston Rod
Stainless Steel
10 Case
Stainless Steel
3
Pressure Cover
Aluminum Alloy
11 Knuckle
Stainless Steel
4
Pressure Cover
Stainless Steel
12 Roller
Carbon Steel
5
Pressure Cover
Stainless Steel
13 Hexagon Socket Head Bolt
Stainless Steel
6
Spring
Spring Steel
14 Hexagon Socket Head Bolt
Stainless Steel
7
Action Lever
Carbon Steel
15 Bearing
Stainless Steel
8
Fulcrum Pin
Carbon Tool Steel
9
Oil-impregnated Sintered Bearing
■Specifications
Elastic Body to be Used
Compression spring
Action Type
Single Acting Normally Close (External force drive at opening)
Operating Temperature
0∼120
［℃］
Required
Lubrication
Maximum Operating Cycle
［Cycle/min］
180
Centering Accuracy
［mm］
±0.07
Repeat Accuracy
［mm］
±0.01
Not mountable
Applicable Switch
Model
Note）1 Allowable
Nominal Opening/ Gripping Extrusion
Force
Extrusion
diameter Closing
Force
(At Closing)
Stroke
Force
［mm］ ［mm］Note）3
［N］
［N］
［N］
HP15M-16-L
HP15M-16-M
16
3
（3∼4.8）
HP15M-16-H
HP15M-20-L
14
5
24
7
34
7
38
12
64
HP15M-20-H
17
88
HP15M-25-L
12
66
HP15M-20-M
HP15M-25-M
HP15M-25-H
20
25
5
（5∼7）
7
（6.3∼8.8）
18
95
26
138
Lever
Ratio
50
300
1：1.1
130
560
1：1.1
210
870
1：1.1
Note）2
Note 1): Extrusion force is an external force required to open the levers completely by overwhelming the spring force in the closing direction.
Note 2): The lever ratio is the "Extruded Distance (how much the rear rod is extruded) and the "Lever Opening Distance (Lever Opening Distance
at that time) (both sides) expressed in "Extruded Distance: Lever Opening Distance".
Note 3): The opening/closing stroke is a reference value. Values in the parentheses are measured values.
Parallel 3-Finger Mechanical Gripper
Single
Acting
Normally
Close
3
Product
Mass
［g］
HP15M Series
Action
Type
407
Parallel 3-Finger Mechanical Gripper
HP15M Series
■Effective Gripping Force
8
4
2
20
40
4
2
0
60 70
20
Gripping Force [N]
15
5
0
20
40
60
5
20
0
30
60
90
40
60
0
120
30
Gripping Point L ［mm］
60
90
HP15M-20-H
5
30
10
60 70
20
40
60
80 100
Gripping Point L ［mm］
HP15M-25-M
20
40
10
0
80 100
Gripping Force [N]
30
20
15
Gripping Point L ［mm］
HP15M-25-L
10
20
10
0
80 100
20
2
Gripping Point L ［mm］
HP15M-20-M
Gripping Point L ［mm］
30
4
0
60 70
Gripping Force [N]
HP15M-20-L
10
40
HP15M-16-H
6
Gripping Point L ［mm］
Gripping Force [N]
Parallel 3-Finger Mechanical Gripper
Gripping Force [N]
15
8
6
Gripping Point L ［mm］
Gripping Force [N]
HP15M Series
0
HP15M-16-M
Gripping Force [N]
HP15M-16-L
Gripping Force [N]
Gripping Force [N]
6
When the levers are full open
When the levers are full closed
20
10
0
120
HP15M-25-H
Gripping Point L ［mm］
30
60
90
120
Gripping Point L ［mm］
■Gripping Point Limit Range
30
10
5
0
20
40
60
80
100
Gripping Point L ［mm］
408
HP15M-20
50
Gripping Force [N]
HP15M-16
Gripping Force [N]
Gripping Force [N]
15
20
10
0
30
60
90
120
Gripping Point L ［mm］
HP15M-25
40
30
20
10
0
30
60
90 120 150
Gripping Point L ［mm］
■Gripper Attachment Method
Pipe
Attachment Mounting
When you screw in a joint or
the like into the pipe port,
tighten it with the following
torque.
When you mount the attachment, support it with a spanner or
the like so that the levers are not rattled. See the following
table for the tightening torque of the mounting bolts.
Bolt to be Used
Maximum Tightening
Torque［N・m］
HP15M-16
M3×0.5
1.14
M3×0.5
0.59
HP15M-20
M4×0.7
2.7
M5×0.8
1.57
HP15M-25
M5×0.8
5.4
HP15M Series
Model
Pipe Port
Maximum Tightening
Torque［N・m］
Main Body Mounting Method
1 When the through-hole of the main body is used
Bolt to
be Used
Maximum Tightening
Torque［N・m］
L［mm］
φ16
M3×0.5
0.59
18
φ20
M3×0.5
0.59
21
φ25
M4×0.7
1.37
21
L
2 When the mounting screw on the back side of the through-hole is used
Model
Bolt to
be Used
Maximum Tightening Torque
［N・m］
φ16
M4×0.7
1.37
φ20
M4×0.7
1.37
φ25
M5×0.8
2.84
Parallel 3-Finger Mechanical Gripper
Model
3 When shank is used
φD
Model
Shank Diameter［φD］
φ16
φ25−0.01
−0.03
φ20
φ30−0.01
−0.03
φ25
φ30−0.01
−0.03
409
Parallel 3-Finger Mechanical Gripper
HP15M Series
■Dimensions
CAD data provided
HP15M-16-□
Through-Hole
Depth 4
HP15M Series
When opened：13.3 0
When closed ：10.3 0
−0.6
＋1.2
(Positioning Pin)
Parallel 3-Finger Mechanical Gripper
Depth 10
Depth 6
Lower Hole φ3.2 Through-Hole
Note)・The allowable extrusion force shall be within
the specified range in use.
・Do not hit the cam and the dog against the
pressure cover in use.
410
CAD data provided
■Dimensions
HP15M-20-□
Through-Hole
Depth 5
HP15M Series
When opened：16.8 0
When closed ：11.8 0
−0.6
＋1.4
(Positioning Pin)
Parallel 3-Finger Mechanical Gripper
Depth 10
Depth 6
Lower Hole φ3.2 Through-Hole
Note)・The allowable extrusion force shall be within
the specified range in use.
・Do not hit the cam and the dog against the
pressure cover in use.
411
Parallel 3-Finger Mechanical Gripper
HP15M Series
■Dimensions
CAD data provided
HP15M-25-□
Through-Hole
Depth 7
HP15M Series
When opened：20.7 0
When closed ：14.4 0
−0.8
＋1.7
(Positioning Pin)
Parallel 3-Finger Mechanical Gripper
Depth 12
Depth 8
Lower Hole φ4.2 Through-Hole
Note)・The allowable extrusion force shall be within
the specified range in use.
・Do not hit the cam and the dog against the
pressure cover in use.
412